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Created and Added Solenoid Functionality for Pneumatics Subsystem

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This commit is contained in:
Aarav Shah
2020-02-26 17:26:49 -07:00
parent 5bcf6c0390
commit 2e3fea423e
4 changed files with 123 additions and 51 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+15 -48
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@@ -36,23 +36,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.PneumaticsConstants;
import frc4388.robot.Gains;
public class Drive extends SubsystemBase {
/* Create Motors, Gyros, Solenoids, etc */
/* Create Motors, Gyros, etc */
public WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public DoubleSolenoid m_speedShift = new DoubleSolenoid(7,0,1);
public DoubleSolenoid m_coolFalcon = new DoubleSolenoid(7,3,2);
/* Drive objects to manage Drive Train */
public DifferentialDrive m_driveTrain;
public final DifferentialDriveOdometry m_odometry;
public Orchestra m_orchestra;
/* Pneumatics Subsystem */
Pneumatics m_pneumaticsSubsystem;
/* Low Gear Gains */
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_LOW;
@@ -90,7 +92,6 @@ public class Drive extends SubsystemBase {
SendableChooser<String> m_songChooser = new SendableChooser<String>();
/* Misc */
public boolean m_isSpeedShiftHigh;
String m_currentSong = "";
/**
@@ -276,10 +277,17 @@ public class Drive extends SubsystemBase {
updateTime();
updateAngles();
updatePosition();
runFalconCooling();
updateSmartDashboard();
}
/**
* Passes subsystem needed.
* @param subsystem Subsystem needed.
*/
public void passRequiredSubsystem(Pneumatics subsystem) {
m_pneumaticsSubsystem = subsystem;
}
public void updateTime() {
m_lastTimeMs = m_currentTimeMs;
m_currentTimeMs = System.currentTimeMillis();
@@ -440,47 +448,6 @@ public class Drive extends SubsystemBase {
m_driveTrain.feedWatchdog();
}
/**
* Set to high or low gear based on boolean state, true = high, false = low
* @param state Chooses between high or low gear
*/
public void setShiftState(boolean state) {
if (state == true) {
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
if (state == false) {
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
setRightMotorGains(state);
m_isSpeedShiftHigh = state;
}
/**
* Set to open or close solenoid that cools the falcon, true = open, false = close
* @param state Chooses between open and close
*/
public void coolFalcon(boolean state) {
if (state == true) {
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
}
}
/**
*
*/
public void runFalconCooling() {
if (m_currentTimeSec % 30 == 0) {
coolFalcon(true);
SmartDashboard.putBoolean("Solenoid", true);
} else if ((m_currentTimeSec - 1) % 30 == 0) {
coolFalcon(false);
SmartDashboard.putBoolean("Solenoid", false);
}
}
/**
* Selects a song to play!
* @param song The name of the song to be played
@@ -633,7 +600,7 @@ public class Drive extends SubsystemBase {
* @return The converted value in inches
*/
public double ticksToInches(double ticks) {
if (m_isSpeedShiftHigh) {
if (m_pneumaticsSubsystem.m_isSpeedShiftHigh) {
return ticks * DriveConstants.INCHES_PER_TICK_HIGH;
} else {
return ticks * DriveConstants.INCHES_PER_TICK_LOW;
@@ -646,7 +613,7 @@ public class Drive extends SubsystemBase {
* @return The converted value in ticks
*/
public double inchesToTicks(double inches) {
if (m_isSpeedShiftHigh) {
if (m_pneumaticsSubsystem.m_isSpeedShiftHigh) {
return inches * DriveConstants.TICKS_PER_INCH_HIGH;
} else {
return inches * DriveConstants.TICKS_PER_INCH_LOW;